Soil sampling robot

Abstract

The invention provides a soil sampling robot which comprises a walking device, a mounting plate is mounted on the rear side of a moving mechanism, the moving mechanism is arranged in the middle of the rear side of the mounting plate, the output end of the moving mechanism is connected with a moving frame, and a second group of moving mechanisms is arranged on the rear side of the moving frame. The output end of the second moving mechanism is connected with a moving shell, a side shell communicated with the moving shell is arranged at the bottom of the rear side of the moving shell, and a sampling mechanism is arranged between the side shell and the moving shell. Compared with the prior art, the soil sampling device has the following beneficial effects that through the design of the sampling mechanism, an electric push rod pushes a sliding seat to descend, the sliding seat descends to drive an extrusion seat to descend, and the extrusion seat descends to push a sampling piece to descend, so that the sampling piece is inserted into a soil layer to realize soil layer sampling; and the rotating disc rotates to drive the next empty sampling piece to rotate to the position under the extrusion base, and the next extrusion sampling work of the extrusion base is waited.

Description

Technical Field

[0001] The present invention is a soil sampling robot, belonging to the field of soil sampling equipment. Background Art

[0002] In the field of contaminated site investigation, the existing sampling techniques mainly include manual sampling tools and some semi-automatic sampling equipment. Manual sampling tools such as ordinary sampling shovels and sampling drills rely entirely on the physical strength and experience of the operator for operation, and are highly subjective when determining the sampling position and depth, making it difficult to ensure the accuracy and consistency of sampling. Although semi-automatic sampling equipment can reduce the manpower to a certain extent, it usually can only sample according to simple preset depths, lacks the adaptability to complex environments, and requires manual handling and position adjustment, which is not conducive to the sampling work in contaminated sites. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a soil sampling robot.

[0004] To achieve the above object, the present invention is realized through the following technical solutions:

[0005] A soil sampling robot includes a traveling device. An installation plate is installed at the rear side of the moving mechanism. A moving mechanism is provided in the middle of the rear side of the installation plate. The output end of the moving mechanism is connected to a moving frame. A second set of moving mechanisms is provided at the rear side of the moving frame. The output end of the second set of moving mechanisms is connected to a moving shell. A side shell communicating with the bottom of the rear side of the moving shell is provided. A sampling mechanism is provided between the side shell and the moving shell.

[0006] Further, the moving mechanism includes a moving groove. A track plate is provided inside the moving groove. A moving motor is provided at the end of the track plate. A shaft rod support seat is provided at each end of the track plate. A lead screw is rotatably connected between the two shaft rod support seats. The end of the lead screw is connected to the output end of the moving motor through a coupling. A nut moving seat is threadedly connected to the lead screw. The nut moving seat is slidably connected to the track plate.

[0007] Further, the sampling mechanism includes an electric push rod provided at the top of the moving shell. The bottom output end of the electric push rod penetrates into the interior of the moving shell and is fixedly connected to a sliding seat. The sliding seat is vertically slidably connected inside the moving shell. A pressing seat is fixed in the middle of one side of the moving shell. A docking groove is opened at the center of the bottom of the pressing seat. A limiting component is provided on one side of the docking groove.

[0008] Further, the sampling mechanism further includes a rotary motor fixed inside the side shell near the moving shell. The top output end of the rotary motor is connected to a turntable. One side of the turntable extends into the moving shell. A plurality of through holes are evenly formed at the edge of the turntable. A sampling member that cooperates with the docking groove is slidably connected inside the through hole. A long strip notch that cooperates with the limiting component is formed at the top of the sampling member.

[0009] Further, the sampling member includes a plurality of guiding blocks evenly arranged inside the through hole. The guiding blocks are slidably connected in guiding grooves on the sampling tube. Internal threads are formed at the top of the sampling tube. A threaded block is threadedly connected to the internal threads. The top of the threaded block penetrates to the top of the sampling tube and is fixedly connected to a docking block. The docking block corresponds to the docking groove. The long strip notch is formed on the outer surface of the docking block. A first return spring is sleeved on the outer surface of the sampling tube between the top of the turntable and the bottom of the docking block.

[0010] Further, the limiting component includes a movable groove formed inside the sliding seat. The two ends of the movable groove penetrate to the docking groove and the outer surface of the sliding seat respectively. A convex block is slidably connected inside the movable groove. A sliding plate is fixedly arranged in the middle of one side of the convex block. The end of the sliding plate penetrates to the outside of the sliding seat and is pressed against the inner wall of the moving shell. A clamping block is fixedly arranged in the middle of the other side of the convex block. The clamping block penetrates into the docking groove. A group of telescopic rods are respectively arranged on both sides of the outer surface of the convex block. The ends of the telescopic rods are fixedly connected to the inner wall of the movable groove. A second return spring is sleeved on the outer side of the telescopic rods. An inclined panel that cooperates with the convex block is installed at the bottom of the inner wall of the moving shell away from the side shell. A guiding inclined surface that cooperates with the convex block is arranged at the top of the inclined panel.

[0011] Further, both the moving shell and the side shell are bottomless shell structures. A plurality of elastic sealing gaskets that cooperate with the sampling tube are arranged at the inner bottom of the side shell. The bottom of the sampling tube is pressed against the top of the elastic sealing gasket.

[0012] Further, a sensor group is arranged on the inner wall of the sampling tube. The sensor group includes a soil pollutant concentration sensor, a soil texture sensor, and a pH sensor.

[0013] Furthermore, the walking device includes a chassis and a pair of wheel assemblies, and multiple sets of pair of wheel mechanisms and storage chambers rotatably installed on the chassis; each set of the pair of wheel mechanisms includes two traveling wheels symmetrically installed on the left and right sides of the chassis, and the relative distance between the two traveling wheels in the axial direction is adjustable; the pair of wheel mechanisms includes an adjustment guide rail, a support frame, an adjustment slider, an adjustment screw, a traveling wheel and a driving assembly; the driving assembly includes a driving motor, a driving bevel gear, a first driven bevel gear and a second driven bevel gear.

[0014] Furthermore, the walking device also includes a vehicle body level adjustment module, and the chassis level adjustment module includes four automatically retractable legs, and the four automatically retractable legs are all fixedly installed on the bottom of the chassis.

[0015] Beneficial effects of the present invention:

[0016] Through the design of the moving mechanism, the moving motor can drive the screw to rotate, the screw can drive the thread of the nut moving seat, and the nut moving seat can slide linearly on the track plate to push the nut moving seat to move linearly, and then the linear movement of the nut moving seat can be driven to drive the moving frame and the moving shell to move linearly, thereby adjusting the lateral and vertical movement of the moving shell and the side shell, and then adjusting the matching of the sampling mechanism and the sampling location.

[0017] Through the design of the sampling mechanism, the sliding seat is pushed down by the electric push rod, and the descent of the sliding seat will drive the extrusion seat to descend. When the extrusion seat descends, the sampling piece is pushed down, so that the sampling piece is inserted into the soil layer to achieve soil layer sampling. At the same time, the turntable can be driven to rotate by the rotating motor, and the rotation of the turntable drives the next empty sampling piece to rotate to the bottom of the extrusion seat, waiting for the next extrusion seat to perform extrusion sampling.

[0018] Through the design of the sampling piece, the design of the guide block and the guide groove, the docking block and the sampling tube can be pushed down steadily and the stroke can be limited under the extrusion of the extrusion seat, so that the sampling tube can be inserted into the soil layer to realize soil layer sampling. At the same time, when the sampling tube rises and resets, the reset spring can provide reset power.

[0019] Through the design of the limit component, the sliding seat is pushed down by the electric push rod. The descent of the sliding seat will drive the extrusion seat to descend. During the initial descent of the extrusion seat, the end of the convex block inside the extrusion seat presses against the inner wall of the moving shell, and the convex block descends along the inner wall of the moving shell. When the sliding seat and the extrusion seat descend to the height of the docking block, at this time, the docking groove at the bottom of the extrusion seat is docked with the docking block. Subsequently, the descending action of the sliding seat will push the docking block and the sampling tube to descend, and the convex block in the sliding seat will also simultaneously press against the guiding inclined surface at the top of the inclined panel. During the subsequent descent process, under the guiding of the inclined surface of the guiding inclined surface, it will press and push the convex block to move into the sliding seat. The convex block pushes the sliding plate and the clamping block to move into the docking groove, and the clamping block will gradually be clamped into the long strip notch on the outer surface of the docking block, thereby locking the extrusion seat and the docking block together. Immediately under the extrusion and guiding of the inclined panel, the descending action of the extrusion seat will push the docking block and the sampling tube to descend synchronously, realizing the sampling action.

[0020] By extending the height of the long strip notch and making the end of the movable groove communicate with the middle of the long strip notch, in this way, after the sampling tube rises and resets, the sliding seat, the extrusion seat and the clamping block can still continue to rise, giving the clamping block a lateral movement reset space distance. Brief Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a three-dimensional structural schematic diagram of a soil sampling robot of the present invention;

[0023] Figure 2 It is a side view structural schematic diagram of a soil sampling robot of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the moving mechanism of a soil sampling robot of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the sampling mechanism of a soil sampling robot of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the elastic sealing gasket of a soil sampling robot of the present invention;

[0027] Figure 6 It is a partial structural schematic diagram of the sampling mechanism of a soil sampling robot of the present invention;

[0028] Figure 7Schematic diagram of the sampling tube structure of a soil sampling robot according to the present invention;

[0029] Figure 8 Schematic diagram of the sampling tube structure of a soil sampling robot according to the present invention;

[0030] Figure 9 Schematic diagram of the connection structure of the docking block and the threaded block of a soil sampling robot according to the present invention;

[0031] Figure 10 Schematic diagram of the connection structure of the sliding seat and the extrusion seat of a soil sampling robot according to the present invention;

[0032] Figure 11 Schematic diagram of the limiting component structure of a soil sampling robot according to the present invention Figure 1 ;

[0033] Figure 12 Schematic diagram of the limiting component structure of a soil sampling robot according to the present invention Figure 2 .

[0034] In the figure, 1, traveling device; 2, mounting plate; 3, moving groove; 4, track plate; 5, moving motor; 6, shaft rod support seat; 7, lead screw; 8, nut moving seat; 9, moving shell; 10, side shell; 11, electric push rod; 12, sliding seat; 13, extrusion seat; 14, rotating motor; 15, turntable; 16, through hole; 17, guide block; 18, sampling tube; 19, guide groove; 20, docking block; 21, internal thread; 22, threaded block; 23, first return spring; 24, elastic sealing pad; 25, moving frame; 26, long strip notch; 27, docking groove; 28, movable groove; 29, sliding plate; 30, convex block; 31, telescopic rod; 32, second return spring; 33, clamping block; 34, inclined panel; 35, guiding inclined surface. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figures 1 - 12, the present invention provides a technical solution for a soil sampling robot, including a traveling device 1. An installation plate 2 is installed at the rear side of the moving mechanism. A moving mechanism is provided in the middle of the rear side of the installation plate 2. The output end of the moving mechanism is connected to a moving frame 25. A second set of moving mechanisms is provided at the rear side of the moving frame 25. The output end of the second set of moving mechanisms is connected to a moving shell 9. A side shell 10 communicating with the bottom of the rear side of the moving shell 9 is provided. A sampling mechanism is provided between the side shell 10 and the moving shell 9. Both the moving shell 9 and the side shell 10 are bottomless shell structures. An electric control box is also provided on the traveling device. A storage battery, a PCL controller, a wireless signal transceiver, and a GPS positioning module are provided inside the electric control box.

[0037] Refer to Figures 1 - 3 , the moving mechanism includes a moving groove 3. A track plate 4 is provided inside the moving groove 3. A moving motor 5 is provided at the end of the track plate 4. A shaft rod support seat 6 is provided at each end of the track plate 4. A lead screw 7 is rotatably connected between the two shaft rod support seats 6. The end of the lead screw 7 is connected to the output end of the moving motor 5 through a coupling. A nut moving seat 8 is threadedly connected to the lead screw 7. The nut moving seat 8 is slidably connected to the track plate 4. Through the design of the moving mechanism, the lead screw 7 can be driven to rotate by the moving motor 5. The lead screw 7 drives the nut moving seat 8 through threading, and the linear sliding of the nut moving seat 8 on the track plate 4 is used to push the nut moving seat 8 to move linearly. Furthermore, the linear movement of the nut moving seat 8 can be used to drive the moving frame 25 and the moving shell 9 to move linearly, thereby adjusting the horizontal and vertical movement of the moving shell 9 and the side shell 10, and further adjusting the matching between the sampling mechanism and the sampling location.

[0038] Refer to Figure 1 , Figure 4 , Figure 5 and Figure 6, the sampling mechanism includes an electric push rod 11 arranged on the top of the moving shell 9. The bottom output end of the electric push rod 11 penetrates into the interior of the moving shell 9 and is fixedly connected to a sliding seat 12. The sliding seat 12 is vertically slidably connected inside the moving shell 9. In the middle of one side of the moving shell 9, an extrusion seat 13 is fixed. At the center of the bottom of the extrusion seat 13, a docking groove 27 is opened. A limiting component is arranged on one side of the docking groove 27. The sampling mechanism further includes a rotary motor 14 fixed inside the side shell 10 near the moving shell 9. The top output end of the rotary motor 14 is connected to a turntable 15. One side of the turntable 15 extends into the moving shell 9. A number of through holes 16 are evenly opened at the edge of the turntable 15. A sampling piece that cooperates with the docking groove 27 is slidably connected inside the through hole 16. A long strip notch 26 that cooperates with the limiting component is opened at the top of the sampling piece. Through the design of the sampling mechanism, the electric push rod 11 is used to push the sliding seat 12 downward. The downward movement of the sliding seat 12 will drive the extrusion seat 13 to descend. When the extrusion seat descends, it will push the sampling piece downward, so that the sampling piece is inserted into the soil layer to achieve soil layer sampling. At the same time, the rotary motor 14 can be used to drive the turntable 15 to rotate. The rotation of the turntable 15 drives the next empty sampling piece to rotate to the directly below of the extrusion seat 13, waiting for the next extrusion sampling work of the extrusion seat 13.

[0039] Refer to Figures 7 - 9 , the sampling piece includes a number of guide blocks 17 evenly arranged inside the through hole 16. The guide blocks 17 are slidably connected in the guide grooves 19 on the sampling tube 18. An internal thread 21 is opened at the top of the sampling tube 18. The internal thread 21 is threadedly connected to a threaded block 22. The top of the threaded block 22 penetrates to the top of the sampling tube 18 and is fixedly connected to a docking block 20. The docking block 20 corresponds to the docking groove 27. The long strip notch 26 is opened on the outer surface of the docking block 20. A first reset spring 23 is sleeved on the outer surface of the sampling tube 18 and between the top of the turntable 15 and the bottom of the docking block 20. A number of elastic gaskets 24 that cooperate with the sampling tube 18 are arranged on the inner bottom of the side shell 10. The bottom of the sampling tube 18 is pressed against the top of the elastic gasket 24. A sensor group is arranged on the inner wall of the sampling tube 18. The sensor group includes a soil pollutant concentration sensor, a soil texture sensor, and a pH sensor. Through the design of the sampling piece, with the design of the guide blocks 17 and the guide grooves 19, the docking block 20 and the sampling tube 18 can be stably pushed downward and the stroke can be limited under the extrusion of the extrusion seat 13, so that the sampling tube 18 is inserted into the soil layer to achieve soil layer sampling. At the same time, when the sampling tube 18 rises and resets, the first reset spring 23 can provide the reset power.

[0040] Refer to Figures 10 - 12, the limiting component includes a movable slot 28 formed inside the sliding seat 12. Both ends of the movable slot 28 are open and penetrate through to the docking slot 27 and the outer surface of the sliding seat 12 respectively. A convex block 30 is slidably connected inside the movable slot 28. A sliding plate 29 is fixed in the middle of one side of the convex block 30. The end of the sliding plate 29 penetrates to the outside of the sliding seat 12 and is pressed against the inner wall of the moving shell 9. A clamping block 33 is fixed in the middle of the other side of the convex block 30. The clamping block 33 penetrates into the docking slot 27. A set of telescopic rods 31 are respectively arranged on both sides of the outer surface of the convex block 30. The ends of the telescopic rods 31 are fixedly connected to the inner wall of the movable slot 28. A second return spring 32 is sleeved outside the telescopic rods 31. At the bottom of the inner wall of the side away from the side shell 10 of the moving shell 9, an inclined panel 34 matched with the convex block 30 is installed. A guiding inclined surface 35 matched with the convex block 30 is arranged at the top of the inclined panel 34; through the design of the limiting component, the sliding seat 12 is pushed down by the electric push rod 11. The descent of the sliding seat 12 will drive the extrusion seat 13 to descend. During the initial descent of the extrusion seat 13, the end of the convex block 30 inside the extrusion seat 13 is pressed against the inner wall of the moving shell 9, and the convex block 30 descends along the inner wall of the moving shell 9. When the sliding seat 12 and the extrusion seat 13 descend to the height of the docking block 20, at this time, the docking slot 27 at the bottom of the extrusion seat 13 is docked with the docking block 20. The subsequent descent action of the sliding seat 12 will push the docking block 20 and the sampling tube 18 to descend. And the convex block 30 in the sliding seat 12 also synchronously presses on the guiding inclined surface 35 at the top of the inclined panel 34. During the subsequent descent process, under the guiding of the inclined surface of the guiding inclined surface 35, the convex block 30 will be squeezed and pushed to move into the sliding seat 12. The convex block 30 pushes the sliding plate 29 and the clamping block 33 to move into the docking slot 27, and the clamping block 33 will gradually be clamped into the long strip notch 26 on the outer surface of the docking block 20, thereby locking the extrusion seat 13 and the docking block 20 together. Immediately, under the extrusion and guiding of the inclined panel 34, the descent action of the extrusion seat 13 will push the docking block 20 and the sampling tube 18 to descend synchronously, realizing the sampling action.

[0041] Refer to Figures 1 - 2, the walking device 1 includes a chassis, a pair of wheel assemblies, multiple pairs of wheel mechanisms rotatably mounted on the chassis, and a storage chamber; each pair of wheel mechanisms includes two driving wheels symmetrically mounted on the left and right sides of the chassis, and the relative distance between the two driving wheels in the axial direction is adjustable; the pair of wheel mechanisms includes an adjustment guide rail, a support frame, an adjustment slider, an adjustment screw rod, a driving wheel, and a driving assembly; the driving assembly includes a driving motor, a driving bevel gear, a first driven bevel gear, and a second driven bevel gear. The walking device 1 further includes a vehicle body horizontal adjustment module. The chassis horizontal adjustment module includes four automatic telescopic feet, and all four automatic telescopic feet are fixedly installed at the bottom of the chassis; the walking device 1 is an existing technical means, such as a walking device applied to an automatic soil sampling robot disclosed in 202420157247.3. Therefore, the present invention is not specifically described in detail.

[0042] During use, the sampling robot is controlled by a wireless signal control device, a controller and a GPS positioning module in the electric control box to move to the sampling location. Subsequently, the sliding seat 12 is pushed down by the electric push rod 11. The descent of the sliding seat 12 will drive the extrusion seat 13 to descend. During the initial descent of the extrusion seat 13, the end of the convex block 30 inside the extrusion seat 13 presses against the inner wall of the moving shell 9, and the convex block 30 descends along the inner wall of the moving shell 9. When the sliding seat 12 and the extrusion seat 13 descend to the height of the docking block 20, at this time, the docking groove 27 at the bottom of the extrusion seat 13 is docked with the docking block 20. The subsequent descent action of the sliding seat 12 will push the docking block 20 and the sampling tube 18 to descend, while the convex block 30 in the sliding seat 12 also synchronously presses on the guiding inclined surface 35 at the top of the inclined panel 34. During the subsequent descent process, under the guiding of the inclined surface of the guiding inclined surface 35, it will squeeze and push the convex block 30 to move into the sliding seat 12. The convex block 30 pushes the sliding plate 29 and the clamping block 33 to move into the docking groove 27, and the clamping block 33 will gradually be clamped into the long strip notch 26 on the outer surface of the docking block 20, thereby locking the extrusion seat 13 and the docking block 20 together. Immediately, under the extrusion and guiding of the inclined panel 34, the descent action of the extrusion seat 13 will push the docking block 20 and the sampling tube 18 to descend, so that the sampling tube 18 is inserted into the soil layer to form soil layer sampling. Subsequently, the output end of the electric push rod 11 contracts to release the extrusion action on the sampling tube 18. Then, under the lifting of the clamping block 33 on the long strip notch 26 and the reset action of the second reset spring 32, the sampling tube 18 inserted into the soil layer is pushed to reset and move onto the turntable 15. When the reset of the sampling tube 18 is completed, at this time, the convex block 30 in the sliding seat 12 also moves to the guiding inclined surface 35. Subsequently, the electric push rod 11 continues to lift, thereby driving the sliding seat 12, the extrusion seat 13 and the internal convex block 30 and clamping block 33 to rise synchronously. Synchronously, under the action of the second reset spring 32 and the guiding inclined surface 35, the sliding plate 29 moves horizontally along the guiding inclined surface 35 and drives the clamping block 33 to move into the movable groove 28, thereby releasing the locking between the extrusion seat 13 and the docking block 20. To meet the above movement actions, this solution increases the height of the long strip notch 26 and makes the end of the movable groove 28 communicate with the middle of the long strip notch 26. In this way, after the sampling tube 18 rises and resets, the sliding seat 12, the extrusion seat 13 and the clamping block 33 can still continue to rise, giving the clamping block 33 a lateral movement and reset space distance.

[0043] Although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A soil sampling robot, characterized in that, It includes a walking device (1), a mounting plate (2) is installed at the rear side of the moving mechanism, a moving mechanism is provided in the middle of the rear side of the mounting plate (2), the output end of the moving mechanism is connected to a moving frame (25), a second group of moving mechanisms are provided at the rear side of the moving frame (25), the output end of the second group of moving mechanisms is connected to a moving shell (9), and a side shell (10) communicating with it is provided at the bottom of the rear side of the moving shell (9), and a sampling mechanism is provided between the side shell (10) and the moving shell (9).

2. The soil sampling robot according to claim 1, characterized in that, The moving mechanism includes a moving groove (3), a track plate (4) is provided inside the moving groove (3), a moving motor (5) is provided at the end of the track plate (4), a shaft rod support seat (6) is provided at each end of the track plate (4), a lead screw (7) is rotatably connected between the two shaft rod support seats (6), the end of the lead screw (7) is connected to the output end of the moving motor (5) through a coupling, a nut moving seat (8) is threadedly connected to the lead screw (7), and the nut moving seat (8) is slidably connected to the track plate (4).

3. The soil sampling robot according to claim 2, wherein The sampling mechanism includes an electric push rod (11) provided at the top of the moving shell (9), the bottom output end of the electric push rod (11) penetrates into the moving shell (9) and is fixedly connected to a sliding seat (12), the sliding seat (12) is vertically slidably connected inside the moving shell (9), a pressing seat (13) is fixed in the middle of one side of the moving shell (9), a docking groove (27) is opened at the center of the bottom of the pressing seat (13), and a limiting component is provided on one side of the docking groove (27).

4. The soil sampling robot according to claim 3, wherein The sampling mechanism further includes a rotating motor (14) fixed inside the side shell (10) close to the moving shell (9), the top output end of the rotating motor (14) is connected to a turntable (15), one side of the turntable (15) extends into the moving shell (9), a plurality of through holes (16) are evenly opened at the edge of the turntable (15), a sampling piece matching with the docking groove (27) is slidably connected inside the through hole (16), and a long strip notch (26) matching with the limiting component is opened at the top of the sampling piece.

5. The soil sampling robot according to claim 4, wherein, The sampling piece includes a plurality of guiding blocks (17) evenly arranged inside the through hole (16), the guiding blocks (17) are slidably connected in guiding grooves (19) on a sampling tube (18), an internal thread (21) is opened at the top of the sampling tube (18), a threaded block (22) is threadedly connected to the internal thread (21), the top of the threaded block (22) penetrates to the top of the sampling tube (18) and is fixedly connected to a docking block (20), the docking block (20) corresponds to the docking groove (27), the long strip notch (26) is opened on the outer surface of the docking block (20), and a first return spring (23) is sleeved on the outer surface of the sampling tube (18) between the top of the turntable (15) and the bottom of the docking block (20).

6. The soil sampling robot according to claim 5, characterized in that, The limiting component includes a movable groove (28) opened inside the sliding seat (12). The two ends of the movable groove (28) are respectively opened through to the docking groove (27) and the outer surface of the sliding seat (12). A convex block (30) is slidably connected inside the movable groove (28). In the middle of one side of the convex block (30), a sliding plate (29) is fixed. The end of the sliding plate (29) penetrates to the outside of the sliding seat (12) and is pressed against the inner wall of the moving shell (9). In the middle of the other side of the convex block (30), a clamping block (33) is fixed. The clamping block (33) penetrates into the docking groove (27). On both sides of the outer surface of the convex block (30), a set of telescopic rods (31) are respectively arranged. The ends of the telescopic rods (31) are connected and fixed to the inner wall of the movable groove (28). A second return spring (32) is sleeved outside the telescopic rod (31). At the bottom of the inner wall of the side of the moving shell (9) away from the side shell (10), an inclined panel (34) matched with the convex block (30) is installed. At the top of the inclined panel (34), a guiding inclined surface (35) matched with the convex block (30) is arranged.

7. The soil sampling robot according to claim 6, wherein, Both the moving shell (9) and the side shell (10) are bottomless shell structures. A plurality of elastic sealing gaskets (24) matched with the sampling tube (18) are arranged at the inner bottom of the side shell (10). The bottom of the sampling tube (18) is pressed against the top of the elastic sealing gasket (24).

8. The soil sampling robot according to claim 7, characterized in that, A sensor group is arranged on the inner wall of the sampling tube (18). The sensor group includes a soil pollutant concentration sensor, a soil texture sensor, and a pH sensor.

9. The soil sampling robot according to claim 8, wherein, The traveling device (1) includes a chassis, a pair of wheel assemblies, a plurality of pairs of wheel mechanisms rotatably installed on the chassis, and a storage chamber. Each pair of wheel mechanisms includes two traveling wheels symmetrically installed on the left and right sides of the chassis, and the relative distance between the two traveling wheels in the axial direction is adjustable. The pair of wheel mechanisms includes an adjustment guide rail, a support frame, an adjustment slider, an adjustment screw rod, a traveling wheel, and a driving component. The driving component includes a driving motor, a driving bevel gear, a first driven bevel gear, and a second driven bevel gear.

10. A soil sampling robot according to claim 9, characterized in that, The traveling device (1) further includes a vehicle body horizontal adjustment module. The chassis horizontal adjustment module includes four automatic telescopic feet, and all four automatic telescopic feet are fixedly installed at the bottom of the chassis.

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